Abstract
Dual electric cylinder servo drive is used in large inverted vertical platforms, but because of the mechanical coupling between the two electric cylinders, in order to ensure that the platform structure without significant deformation, it is necessary to maintain synchronous motion between the two electric cylinders. As a simple and practical synchronization control method, the master-slave synchronization control method has the problem of synchronization delay, which cannot meet the requirements of high synchronization precision. To solve this problem, a new master-slave synchronization control method is proposed in this paper, which compensates the feedforward of the slave loop, reduces the master-slave delay effect and improves the master-slave synchronization precision. The master loop is compensated by feedback to improve the angle tracking accuracy of inverted vertical platform. The compensation function is obtained by theoretical analysis, and the stability of the system is proved by Rouse Criterion. The effectiveness of the proposed method is verified by experimental results.